全自主足球机器人的运动控制系统研究  

Motion control system for autonomous soccer robot

作　　者：黄庆成[1] 洪炳镕[1] Javaid Khurshid 

机构地区：[1]哈尔滨工业大学计算机科学与技术学院,黑龙江哈尔滨150001

出　　处：《哈尔滨工业大学学报》2004年第7期914-916,共3页Journal of Harbin Institute of Technology

基　　金：国家高科技发展计划资助项目(2001AA422270)

摘　　要：全自主足球机器人要完成踢球任务,需要一个快速可靠的运动控制系统,但是大多数以前的电机控制系统都是基于MCU或DSP系统的.为此,提出基于PC104总线控制的直流伺服电机控制系统,介绍了运动控制系统的组成、电动机控制板和系统控制软件.该控制系统具有体积小、功能强、反应速度快和控制简单等特点,完全可以满足足球机器人的运动要求,并可应用于其他小型装置的电动机控制系统上.It needs a rapid and reliable motion control system for the autonomous soccer robot to accomplish its own tasks, such as to cover an opponent's attack or run for a ball, but almost all the traditional motor control systems are based on MCU (micro controller unit) or DSP (digital signal processor) system. A DC servo motor control system based on PC104 bus is presented, and the construction of the motion control system, motor control board and application software is introduced. This system has the advantages of small volume, powerful function, fast response and easy control, meets the motion demand of soccer robot completely, and can be used in other similar motor drive systems for small mobile device.

关 键 词：PC104总线 直流电机控制 运动系统 足球机器人 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置]